CN113664804A - Five-axis transmission mechanism of high-precision welding robot - Google Patents
Five-axis transmission mechanism of high-precision welding robot Download PDFInfo
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- CN113664804A CN113664804A CN202110949399.8A CN202110949399A CN113664804A CN 113664804 A CN113664804 A CN 113664804A CN 202110949399 A CN202110949399 A CN 202110949399A CN 113664804 A CN113664804 A CN 113664804A
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 72
- 238000003466 welding Methods 0.000 title claims abstract description 32
- 230000007246 mechanism Effects 0.000 title claims abstract description 23
- 238000009434 installation Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 11
- 239000003638 chemical reducing agent Substances 0.000 abstract description 5
- 230000009977 dual effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- General Details Of Gearings (AREA)
Abstract
The invention discloses a five-axis transmission mechanism of a high-precision welding robot, which comprises a four-axis arm body, a six-axis transmission shaft, a first double-curved-surface gear, a first bearing, a first angle contact bearing, a second double-curved-surface gear, a crossed roller bearing and a five-axis flange. Through adopting crossed roller bearing to replace thin wall bearing, make transmission structure rigidity improve 3 to 4 times, the stability that the welding effect is more, and adopt first curved surface gear and the second curved surface gear of big drive ratio to replace the harmonic speed reducer machine, moreover, the steam generator is simple in structure, low in processing cost, can also further increase the holistic rigidity of transmission structure and intensity, and through cooperation and first bearing between crossed roller bearing and the hyperboloid gear, six transmission shafts and first angle contact bearing connection transmission, can improve transmission structure's transmission precision greatly, make the precision can reach 0.023mm, it has great promotion to compare in current transmission mechanism 0.05 mm's precision, the welding effect is better, can adapt to more use scenes, it is also littleer to use the limitation.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a five-axis transmission mechanism of a high-precision welding robot.
Background
In the process of intelligent technology of industry from 1.0 to 4.0, a robot is a necessary object; the appearance of robots also marks the arrival of the industrial intelligence era. Among many robots, the articulated arm robot is one of the most common forms of industrial robots in the industrial field, and is suitable for mechanical automation operations in various industrial fields, such as automatic assembly, painting, transportation, welding and the like.
In the welding field, often need the robot to have higher precision, just can guarantee the stability of welding effect, generally adopt thin wall bearing among the current welding robot drive mechanism, lead to the rigidity lower, welding stability is not enough, and reduction gears generally adopts the harmonic speed reducer, and not only the structure is complicated, and the cost is higher moreover, and transmission precision is also not enough simultaneously, influences the welding effect, and the use limitation is also great, consequently, it is necessary to make further improvement to current welding robot drive mechanism.
Disclosure of Invention
In view of the above, the present invention is directed to the defects in the prior art, and a main object of the present invention is to provide a five-axis transmission mechanism of a high-precision welding robot, which can effectively solve the problems of the existing robot transmission mechanism, such as poor rigidity, insufficient welding stability, complex structure, high cost, low transmission precision, and poor welding effect.
In order to achieve the purpose, the invention adopts the following technical scheme:
a five-axis transmission mechanism of a high-precision welding robot comprises a four-axis arm body, a six-axis transmission shaft, a first double-curved-surface gear, a first bearing, a first angle contact bearing, a second double-curved-surface gear, a crossed roller bearing and a five-axis flange; the four-shaft arm body is internally provided with an installation cavity; the six-shaft transmission shaft is rotatably arranged in the center of the mounting cavity; the first double-curved-surface gear is sleeved on the six-shaft transmission shaft and is fixedly connected with the six-shaft transmission shaft, and the first double-curved-surface gear is positioned in the mounting cavity; the first bearing is sleeved on the first double-curved-surface gear and fixed; the first angular contact bearing is sleeved on the six-shaft transmission shaft and fixed; the second double-curved-surface gear is arranged outside the first bearing and the first angle contact bearing and is positioned at the periphery of the first double-curved-surface gear; the crossed roller bearing is sleeved outside the second double-curved-surface gear and is fixedly connected with the second double-curved-surface gear; the five-axis flange is fixedly connected between the second double-curved-surface gear and the four-axis arm body.
As a preferable scheme, the center of the inner end face of the six-shaft transmission shaft is provided with a first fixing hole, the inner side face of the first double-curved-surface gear is provided with a first cavity, the bottom face of the first cavity is provided with a second fixing hole, the first cavity is internally provided with a gear pressing sheet, the gear pressing sheet is provided with a first through hole and a second through hole, a first bolt penetrates through the first through hole and is fixedly connected with the first fixing hole, and a second bolt penetrates through the second through hole and is fixedly connected with the second fixing hole.
Preferably, the six-shaft transmission shaft and the first double-curved-surface gear are positioned through a flat key.
Preferably, the inner side of the second double curved gear has a second cavity, and the first double curved gear is located in the second cavity.
Preferably, a third through hole is concavely formed in the bottom surface of the second concave cavity, a third fixing hole is formed in the inner edge of the crossed roller bearing, and a third bolt penetrates through the third through hole and is fixedly connected with the third fixing hole.
As a preferable scheme, the outer edge of the crossed roller bearing is provided with a fourth through hole, the five-axis flange is provided with a fourth fixing hole, and a fourth bolt penetrates through the fourth through hole and is fixedly connected with the fourth fixing hole.
Preferably, the outer end of the six-shaft transmission shaft is sleeved with a second bearing.
Preferably, a first shaft tooth and a second shaft tooth are arranged in the four-shaft arm body, the first shaft tooth is meshed with the first double-curved-surface gear, and the second shaft tooth is meshed with the second double-curved-surface gear.
As a preferable scheme, a first oil seal, a third bearing, a second angular contact bearing and a first bearing cover are sleeved on the first shaft tooth, and the first bearing cover is fixedly connected with the first shaft tooth through a first locking nut.
As a preferred scheme, a second oil seal, a fourth bearing, a third angle contact bearing and a second bearing cover are sleeved on the second shaft tooth, and the second bearing cover is fixedly connected with the second shaft tooth through a second locking nut.
Compared with the prior art, the invention has obvious advantages and beneficial effects, and specifically, the technical scheme includes that:
through adopting crossed roller bearing to replace thin wall bearing, make transmission structure rigidity improve 3 to 4 times, the stability that the welding effect is more, and adopt first curved surface gear and the second curved surface gear of big drive ratio to replace the harmonic speed reducer machine, moreover, the steam generator is simple in structure, low in processing cost, can also further increase the holistic rigidity of transmission structure and intensity, and through cooperation and first bearing between crossed roller bearing and the hyperboloid gear, six transmission shafts and first angle contact bearing connection transmission, can improve transmission structure's transmission precision greatly, make the precision can reach 0.023mm, it has great promotion to compare in current transmission mechanism 0.05 mm's precision, the welding effect is better, can adapt to more use scenes, it is also littleer to use the limitation.
To more clearly illustrate the structural features and effects of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
Drawings
FIG. 1 is a schematic perspective view of a preferred embodiment of the present invention;
FIG. 2 is a schematic perspective view of another embodiment of the present invention;
FIG. 3 is an exploded view of the preferred embodiment of the present invention;
FIG. 4 is a schematic cross-sectional view of a preferred embodiment of the present invention;
fig. 5 is an enlarged view of fig. 4.
The attached drawings indicate the following:
10. four-axis arm body 101, installation cavity
11. First shaft tooth 111 and first oil seal
112. Third bearing 113 and second angular contact bearing
114. First bearing cap 115, first lock nut
12. Second shaft gear 121 and second oil seal
122. Fourth bearing 123 and third contact bearing
124. Second bearing cap 125, second lock nut
20. Six-shaft transmission shaft 201 and first fixing hole
21. Second bearing 22, flat key
30. First double-curved gear 301 and first cavity
302. Second fixing hole 303, first through hole
304. Second through hole 31, gear preforming
40. First bearing 50, first angular contact bearing
60. Second double-curved-surface gear 601 and second concave cavity
602. Third through hole 70, crossed roller bearing
701. Third fixing hole 702 and fourth through hole
80. Five-axis flange 801 and fourth fixing hole
91. First lock nut 92, second lock nut
93. A third lock nut 94, a fourth lock nut.
Detailed Description
Referring to fig. 1 to 5, there is shown a specific structure of a preferred embodiment of the present invention, which includes a four-axis arm 10, a six-axis transmission shaft 20, a first double-curved gear 30, a first bearing 40, a first angular contact bearing 50, a second double-curved gear 60, a cross roller bearing 70 and a five-axis flange 80.
The four-shaft arm body 10 is provided with a mounting cavity 101 therein, in this embodiment, a first shaft tooth 11 and a second shaft tooth 12 are provided in the four-shaft arm body 10, the first shaft tooth 11 is sleeved with a first oil seal 111, a third bearing 112, a second angular contact bearing 113 and a first bearing cover 114, and the first bearing cover 114 is fixedly connected with the first shaft tooth 11 through a first lock nut 115; the second gear 12 is sleeved with a second oil seal 121, a fourth bearing 122, a third angle contact bearing 123 and a second bearing cover 124, and the second bearing cover 124 is fixedly connected with the second gear 12 through a second lock nut 125.
The six-shaft transmission shaft 20 is rotatably arranged at the center of the mounting cavity 101; in this embodiment, a first fixing hole 201 is formed in the center of the inner end surface of the six-axis transmission shaft 20; the outer end of the six-shaft transmission shaft 20 is sleeved with a second bearing 21.
The first double-curved-surface gear 30 is sleeved on the six-axis transmission shaft 20 and is fixedly connected with the six-axis transmission shaft 20, and the first double-curved-surface gear 30 is positioned in the installation cavity 101; in this embodiment, the inner side surface of the first double-curved gear 30 has a first cavity 301, the bottom surface of the first cavity 301 is provided with a second fixing hole 302, the first cavity 301 is provided with a gear pressing piece 31, the gear pressing piece 31 is provided with a first through hole 303 and a second through hole 304, a first bolt 91 passes through the first through hole 303 and is fixedly connected with the first fixing hole 201, and a second bolt 92 passes through the second through hole 304 and is fixedly connected with the second fixing hole 302; the six-shaft transmission shaft 20 and the first double-curved-surface gear 30 are positioned by a flat key 22;
the first bearing 40 is fixed on the first double-curved gear 30. This first angle contact bearing 50 cover is fixed on six transmission shafts 20 are located, through six transmission shafts 20, first bearing 40 and the connection of first angle contact bearing 50, can make the transmission precision reach 0.023mm, has compared in current 0.05mm precision and has had great promotion.
The second double curved gear 60 is arranged outside the first bearing 40 and the first corner contact bearing 50, and the second double curved gear 60 is positioned at the periphery of the first double curved gear 30; in this embodiment, the inner side of the second dual curved gear 60 has a second cavity 601, and the first dual curved gear 30 is located in the second cavity 601; the bottom surface of the second cavity 601 is concavely provided with a third through hole 602, and the first double-curved-surface gear 30 and the second double-curved-surface gear 60 with large transmission ratio are adopted to replace harmonic speed reducers, so that the structure is simple, the processing cost is low, and the overall rigidity and strength of the transmission structure can be further improved.
The crossed roller bearing 70 is sleeved outside the second double-curved-surface gear 60 and is fixedly connected with the second double-curved-surface gear 60; in this embodiment, the inner edge of the crossed roller bearing 70 is provided with a third fixing hole 701, and a third bolt 93 passes through the third through hole 602 and is fixedly connected with the third fixing hole 701; the outer edge of the crossed roller bearing 70 is provided with a fourth through hole 702, and the crossed roller bearing 70 is adopted to replace a thin-wall bearing, so that the rigidity of the transmission structure is improved by 3 to 4 times, and the welding effect is more stable.
The five-axis flange 80 is fixedly connected between the second double-curved-surface gear 60 and the four-axis arm body 10; in this embodiment, the five-axis flange 80 is provided with a fourth fixing hole 801, and a fourth bolt 94 passes through the fourth through hole 702 and is fixedly connected with the fourth fixing hole 801.
The design of the invention is characterized in that: through adopting crossed roller bearing to replace thin wall bearing, make transmission structure rigidity improve 3 to 4 times, the stability that the welding effect is more, and adopt first curved surface gear and the second curved surface gear of big drive ratio to replace the harmonic speed reducer machine, moreover, the steam generator is simple in structure, low in processing cost, can also further increase the holistic rigidity of transmission structure and intensity, and through cooperation and first bearing between crossed roller bearing and the hyperboloid gear, six transmission shafts and first angle contact bearing connection transmission, can improve transmission structure's transmission precision greatly, make the precision can reach 0.023mm, it has great promotion to compare in current transmission mechanism 0.05 mm's precision, the welding effect is better, can adapt to more use scenes, it is also littleer to use the limitation.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the technical scope of the present invention, so that any minor modifications, equivalent changes and modifications made to the above embodiment according to the technical spirit of the present invention are within the technical scope of the present invention.
Claims (10)
1. The utility model provides a high accuracy welding robot's five transmission mechanism which characterized in that: the four-shaft transmission mechanism comprises a four-shaft arm body, a six-shaft transmission shaft, a first double-curved-surface gear, a first bearing, a first angle contact bearing, a second double-curved-surface gear, a cross roller bearing and a five-shaft flange; the four-shaft arm body is internally provided with an installation cavity; the six-shaft transmission shaft is rotatably arranged in the center of the mounting cavity; the first double-curved-surface gear is sleeved on the six-shaft transmission shaft and is fixedly connected with the six-shaft transmission shaft, and the first double-curved-surface gear is positioned in the mounting cavity; the first bearing is sleeved on the first double-curved-surface gear and fixed; the first angular contact bearing is sleeved on the six-shaft transmission shaft and fixed; the second double-curved-surface gear is arranged outside the first bearing and the first angle contact bearing and is positioned at the periphery of the first double-curved-surface gear; the crossed roller bearing is sleeved outside the second double-curved-surface gear and is fixedly connected with the second double-curved-surface gear; the five-axis flange is fixedly connected between the second double-curved-surface gear and the four-axis arm body.
2. The five-axis transmission mechanism of the high-precision welding robot according to claim 1, characterized in that: the inner end face center of the six-shaft transmission shaft is provided with a first fixing hole, the inner side face of the first double-curved-surface gear is provided with a first cavity, the bottom face of the first cavity is provided with a second fixing hole, a gear pressing sheet is arranged in the first cavity, the gear pressing sheet is provided with a first through hole and a second through hole, a first bolt penetrates through the first through hole and is fixedly connected with the first fixing hole, and a second bolt penetrates through the second through hole and is fixedly connected with the second fixing hole.
3. The five-axis transmission mechanism of the high-precision welding robot according to claim 1, characterized in that: the six-shaft transmission shaft and the first double-curved-surface gear are positioned through a flat key.
4. The five-axis transmission mechanism of the high-precision welding robot according to claim 1, characterized in that: the inner side surface of the second double-curved-surface gear is provided with a second cavity, and the first double-curved-surface gear is positioned in the second cavity.
5. The five-axis transmission mechanism of the high-precision welding robot according to claim 4, wherein: and a third through hole is concavely arranged on the bottom surface of the second concave cavity, a third fixing hole is formed in the inner edge of the crossed roller bearing, and a third bolt penetrates through the third through hole and is fixedly connected with the third fixing hole.
6. The five-axis transmission mechanism of the high-precision welding robot according to claim 1, characterized in that: the outer edge of the crossed roller bearing is provided with a fourth through hole, the five-axis flange is provided with a fourth fixing hole, and a fourth bolt penetrates through the fourth through hole and is fixedly connected with the fourth fixing hole.
7. The five-axis transmission mechanism of the high-precision welding robot according to claim 1, characterized in that: and the outer end of the six-shaft transmission shaft is sleeved with a second bearing.
8. The five-axis transmission mechanism of the high-precision welding robot according to claim 1, characterized in that: a first shaft tooth and a second shaft tooth are arranged in the four-shaft arm body, the first shaft tooth is meshed with the first double-curved-surface gear, and the second shaft tooth is meshed with the second double-curved-surface gear.
9. The five-axis transmission mechanism of the high-precision welding robot according to claim 8, characterized in that: the first shaft tooth is sleeved with a first oil seal, a third bearing, a second angular contact bearing and a first bearing cover, and the first bearing cover is fixedly connected with the first shaft tooth through a first locking nut.
10. The five-axis transmission mechanism of the high-precision welding robot according to claim 8, characterized in that: the second shaft tooth is sleeved with a second oil seal, a fourth bearing, a third angle contact bearing and a second bearing cover, and the second bearing cover is fixedly connected with the second shaft tooth through a second locking nut.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110949399.8A CN113664804A (en) | 2021-08-18 | 2021-08-18 | Five-axis transmission mechanism of high-precision welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110949399.8A CN113664804A (en) | 2021-08-18 | 2021-08-18 | Five-axis transmission mechanism of high-precision welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113664804A true CN113664804A (en) | 2021-11-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110949399.8A Pending CN113664804A (en) | 2021-08-18 | 2021-08-18 | Five-axis transmission mechanism of high-precision welding robot |
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| Country | Link |
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| CN (1) | CN113664804A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018015748A1 (en) * | 2016-07-22 | 2018-01-25 | Cambridge Medical Robotics Limited | Gear packaging for robotic joints |
| CN108626379A (en) * | 2018-05-10 | 2018-10-09 | 杭州新松机器人自动化有限公司 | A kind of the adjustment structure and its application method of the wrist gear drive sideshake of industrial robot |
| CN208966950U (en) * | 2018-09-12 | 2019-06-11 | 苏州科峰英诺传动技术有限公司 | A kind of hypoid right angle reductor |
| CN111872972A (en) * | 2020-07-23 | 2020-11-03 | 伯朗特机器人股份有限公司 | Gear clearance fine adjustment structure of nested joint of welding robot |
| CN213647610U (en) * | 2020-11-20 | 2021-07-09 | 伯朗特机器人股份有限公司 | High-speed high-rigidity multi-joint welding robot |
-
2021
- 2021-08-18 CN CN202110949399.8A patent/CN113664804A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018015748A1 (en) * | 2016-07-22 | 2018-01-25 | Cambridge Medical Robotics Limited | Gear packaging for robotic joints |
| CN108626379A (en) * | 2018-05-10 | 2018-10-09 | 杭州新松机器人自动化有限公司 | A kind of the adjustment structure and its application method of the wrist gear drive sideshake of industrial robot |
| CN208966950U (en) * | 2018-09-12 | 2019-06-11 | 苏州科峰英诺传动技术有限公司 | A kind of hypoid right angle reductor |
| CN111872972A (en) * | 2020-07-23 | 2020-11-03 | 伯朗特机器人股份有限公司 | Gear clearance fine adjustment structure of nested joint of welding robot |
| CN213647610U (en) * | 2020-11-20 | 2021-07-09 | 伯朗特机器人股份有限公司 | High-speed high-rigidity multi-joint welding robot |
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Application publication date: 20211119 |